Kinematical analysis of Wunderlich mechanism

We analyze the configuration space of Wunderlich mechanism using tools of computational algebraic geometry. We provide the complete description of the configuration space of the Wunderlich mechanism by computing the prime decomposition of the relevant variety and analyzing all of its prime components. We analyze also the effect of the choice of parameters to the decomposition. The prime components are smooth, but there are numerous intersections between different components. We give the characterizations of all intersections.